A computer-aided simulation approach for mechanisms with time-varying topology

✍ Scribed by D. Wang; C. Conti; P. Dehombreux; O. Verlinden

• Publisher: Elsevier Science
• Year: 1997
• Tongue: English
• Weight: 830 KB
• Volume: 64
• Category: Article
• ISSN: 0045-7949
• DOI: 10.1016/s0045-7949(96)00154-x

✦ Synopsis

During

motion, the topology of some special industrial mechanisms may change due to intermittent contact joints, leading to addition, deletion or modification of constraints. The bases of a general computer-aided simulation approach for mechanisms with time-varying topology are developed in this paper. Relative coordinates are used to describe in a unified way the properties of either lower-pair or higher-pair joints. The equations governing the motion of the mechanism are obtained by the Hamilton canonical fomlulation which is useful to solve the impact problem consecutive to collisions in multibody systems. A set of strategies is developed to automatically predict the modifications of topology in order to perform a continuous dynamic simulation.